145 lines
4.4 KiB
Rust
145 lines
4.4 KiB
Rust
#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use core::marker::PhantomData;
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use defmt_rtt as _; // global logger
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use panic_probe as _;
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use defmt::*;
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use embassy::executor::Spawner;
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use embassy::time::{Duration, Timer};
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use embassy::util::Unborrow;
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use embassy_stm32::gpio::low_level::AFType;
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use embassy_stm32::gpio::Speed;
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use embassy_stm32::pwm::*;
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use embassy_stm32::time::{Hertz, U32Ext};
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use embassy_stm32::unborrow;
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use embassy_stm32::{Config, Peripherals};
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pub fn config() -> Config {
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let mut config = Config::default();
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config.rcc.sys_ck = Some(400.mhz().into());
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config.rcc.hclk = Some(400.mhz().into());
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config.rcc.pll1.q_ck = Some(100.mhz().into());
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config.rcc.pclk1 = Some(100.mhz().into());
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config.rcc.pclk2 = Some(100.mhz().into());
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config.rcc.pclk3 = Some(100.mhz().into());
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config.rcc.pclk4 = Some(100.mhz().into());
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config
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}
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#[embassy::main(config = "config()")]
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async fn main(_spawner: Spawner, p: Peripherals) {
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info!("Hello World!");
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let mut pwm = SimplePwm32::new(p.TIM5, p.PA0, p.PA1, p.PA2, p.PA3, 10000.hz());
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let max = pwm.get_max_duty();
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pwm.enable(Channel::Ch1);
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info!("PWM initialized");
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info!("PWM max duty {}", max);
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loop {
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pwm.set_duty(Channel::Ch1, 0);
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Timer::after(Duration::from_millis(300)).await;
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pwm.set_duty(Channel::Ch1, max / 4);
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Timer::after(Duration::from_millis(300)).await;
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pwm.set_duty(Channel::Ch1, max / 2);
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Timer::after(Duration::from_millis(300)).await;
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pwm.set_duty(Channel::Ch1, max - 1);
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Timer::after(Duration::from_millis(300)).await;
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}
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}
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pub struct SimplePwm32<'d, T: CaptureCompare32bitInstance> {
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phantom: PhantomData<&'d mut T>,
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inner: T,
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}
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impl<'d, T: CaptureCompare32bitInstance> SimplePwm32<'d, T> {
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pub fn new<F: Into<Hertz>>(
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tim: impl Unborrow<Target = T> + 'd,
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ch1: impl Unborrow<Target = impl Channel1Pin<T>> + 'd,
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ch2: impl Unborrow<Target = impl Channel2Pin<T>> + 'd,
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ch3: impl Unborrow<Target = impl Channel3Pin<T>> + 'd,
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ch4: impl Unborrow<Target = impl Channel4Pin<T>> + 'd,
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freq: F,
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) -> Self {
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unborrow!(tim, ch1, ch2, ch3, ch4);
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T::enable();
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<T as embassy_stm32::rcc::low_level::RccPeripheral>::reset();
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unsafe {
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ch1.set_speed(Speed::VeryHigh);
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ch1.set_as_af(ch1.af_num(), AFType::OutputPushPull);
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ch2.set_speed(Speed::VeryHigh);
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ch2.set_as_af(ch1.af_num(), AFType::OutputPushPull);
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ch3.set_speed(Speed::VeryHigh);
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ch3.set_as_af(ch1.af_num(), AFType::OutputPushPull);
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ch4.set_speed(Speed::VeryHigh);
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ch4.set_as_af(ch1.af_num(), AFType::OutputPushPull);
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}
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let mut this = Self {
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inner: tim,
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phantom: PhantomData,
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};
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this.set_freq(freq);
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this.inner.start();
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unsafe {
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T::regs_gp32()
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.ccmr_output(0)
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.modify(|w| w.set_ocm(0, OutputCompareMode::PwmMode1.into()));
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T::regs_gp32()
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.ccmr_output(0)
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.modify(|w| w.set_ocm(1, OutputCompareMode::PwmMode1.into()));
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T::regs_gp32()
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.ccmr_output(1)
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.modify(|w| w.set_ocm(0, OutputCompareMode::PwmMode1.into()));
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T::regs_gp32()
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.ccmr_output(1)
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.modify(|w| w.set_ocm(1, OutputCompareMode::PwmMode1.into()));
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}
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this
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}
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pub fn enable(&mut self, channel: Channel) {
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unsafe {
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T::regs_gp32()
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.ccer()
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.modify(|w| w.set_cce(channel.raw(), true));
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}
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}
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pub fn disable(&mut self, channel: Channel) {
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unsafe {
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T::regs_gp32()
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.ccer()
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.modify(|w| w.set_cce(channel.raw(), false));
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}
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}
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pub fn set_freq<F: Into<Hertz>>(&mut self, freq: F) {
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<T as embassy_stm32::timer::low_level::GeneralPurpose32bitInstance>::set_frequency(
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&mut self.inner,
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freq,
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);
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}
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pub fn get_max_duty(&self) -> u32 {
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unsafe { T::regs_gp32().arr().read().arr() }
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}
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pub fn set_duty(&mut self, channel: Channel, duty: u32) {
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defmt::assert!(duty < self.get_max_duty());
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unsafe {
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T::regs_gp32()
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.ccr(channel.raw())
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.modify(|w| w.set_ccr(duty))
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}
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}
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}
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